基于SRRT*算法的6R机器人绕障轨迹规划

The 2nd International Conference on Computing and Data Science Pub Date : 2021-01-28 DOI:10.1145/3448734.3450853

Shugang Zhang, Bei-xuan Lyu, Yong Li, Lijun Sui, Jie Yang

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引用次数: 0

摘要

自新冠肺炎疫情爆发以来，工业系列机械手已成为制造业抗疫战中的关键装备，以减少人员而不是提高效率。为了解决机器人避障和轨迹规划问题，基于机器人的正逆运动学，将机器人关节空间作为随机采样空间，采用SRRT*方法，提出了一种无碰撞轨迹规划方法。

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Trajectory planning of a 6R manipulator around obstacles by using SRRT* Algorithm

Since the outbreak of COVID-19 viruses, industrial serial manipulators have become the key equipment in the anti-epidemic war, in manufacturing industry in order to reduce people but not efficiency. In order to solve the problem of robot obstacle avoidance and trajectory planning, based on the forward and inverse kinematics of robot, the robot joint space is taken as the random sampling space, and we use the SRRT* method ,and a collision free trajectory planning is proposed.

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来源期刊

The 2nd International Conference on Computing and Data Science

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